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Minimum Induced Loss Windmills and Propellers Larrabee 1983
Minimum Induced Loss Windmills and Propellers Larrabee 1983
317
M.I.T., Cambridge, ~
SUMMARY
Horizontal axis wind turbines can be designed advantageously to utilize iminimum induced loss radial loading, exactly inverse to that of high efficiency airplane propellers, as described by Betz, Prandtl, (1919) and Goldstein (1929).
Benefits include reduced tower load and increased wind energy for windmills
downstres~a in an array.
At M.I.T. the authors have developed a rotor design and
analysis code, HELICE, which exploits analytic simplifications possible with
near minimum induced loss loading.
Earlier versions have been used to design
propellers for human powered airplanes (1979) and windmills (1980).
Algorithms
and exmples are given.
i. ~ N I M U M
The idea of "minimum induced loss" comes from Prandtl and his circle at Goettingen who noted the analogy between the magnetic
conductors
tices,
law.
"downwash"
of the trailing
vortex
dition"
by Betz himself),
for
minimize
thrust,
post
and r~nimum
kinetic
energy
of
By 1919
[i] had established a similar rule for the motion of the helicoidal trail-
tion
sheet
the
corresponding
the
kinetic
propeller
doctoral
fellow
1929 brought
Glauert
radial
energy
diameter,
theory of propellers,
at
of
shaft
distribution
a
propeller
of bound vorticity
velocity
speed, airspeed,
Goettingen,
and publication
Sydney
field
for
which
a
would
specified
Goldstein
refined the
As a
Betz-Prandtl
12] in
untimely death.
In
1969
inexpensive propeller
design
[4]
in 1979 which were used to design propellers of high efficiency for the Goss~aer
Albatross
0167-6105/83/$03.00
318
coauthor
rithms
wroLe
and
purer
using
windmills
feature
air
one
wenl
~%s
the, d e { i s h
turbine"
seer]
adapte]
FOH'fi~AN c o d e {
to a
Fig.
one
~ystem.
pr'ol)eJ!urs~
[.j<iuilmei~t < k r p o F ~ t i o n
tiit~ ~'oLJr.
P)P-ilj [
...-
St~broLlbiIl~3 w(;aiq
effic'eiK:j' oY
~ sma].L
in
sm(tl.. .~i6qta!
as
windmills:
several
were
Lhi0rove
[nduce~:
,_::.: _ < i i
he,:ent'~, it ~ s
be,_q u s e d
'r
k.L
te ::,~k~iS~. ',~n',:~::
]u[ier~t
(,~
L< [ !:i
1.
Fig.
!.
"La M o l i n a H i g l i o r a " ,
a wind~ill
designed
for Robert ~iidiiur~. ~z
a r c h i t e c t in P o r t l a n d , O r e g o n .
It is u s e d ~o c a n c e l d o m e s t i c p o w e r consul~)~o~l
on t h e a v e r a g e .
6.L in di~,leter, r a t e d aL
.46 kW s h a f t p o w e r a~ 2U.~ rpm
1 0 . 7 ms -I w i n d .
The
which
HELICE
w i l l be
rotor
design
described
i)
a reinterpretation
2)
the
essential
but ion
and
analysis
_'ode is
based
on
the
foi~owin o
-u{. ....
in turn:
of
Betz's
correctness
of
rigid wake
Prandtl's
condition;
analytic
radial
circulation
distE'i-
319
3)
the use of simple loading integrals to determmne the slipstream "displacement" velocity and the corresponding rotor geometry,
4)
5)
a si~le
analytic
representation
for angles
ment"
velocity,
or rotating
gular
velocity.
Actually
themselves.
displacement
If the
velocity
local
about
translating
the propeller
shaft
axis
"displace-
angle
is @(Fig.2)
and
the
radially
to
constant
be
given if the local sheet velocity is v'cos%. Corresponding axial and swirl velocities of the "developed" vortex sheet are v'cos2% and v'cos@sin@,
respec<ively,
inconsistent
rotor
lifting
reinterpreted.
Local
with
rigid body
motion.
Induced
velocities
at the
inner
outer
t~
/
V I
Fig.2.
Betz's "rigid wake condition" for mini:ama loss
sheet velocity = v'cos@, v' = displacement velocity.
F on
BF = 2~r Vswir I
(i)
The average
swirl velocity
swirl velocity
of
320
cos-
x/,F~ z + 1 ;
sin~
i//-~ / + i
Prandtl
fluid
~5)
approximated
entrained
(~)
x ~ nr/V,
by
F with
an
a planar
infinite
flow
array
result
of semi-infinite
plates
velocity
moving
oY
perpendi-
cular to themselves:
~*J
redge distance~
(B/2)~Z--$-~
f = ~[plate spacing ) =
(~)
The expression
for f corresponds
/k)(l
r/R)
where
k ~ V/GR, with n
dimensionless
clr-
B~r ~
Fx 2
2wVv-----~- ~
Figure
3 compares
(Prandtl's
Goldstein's
approximation)
painfully
ones; Prandtl's
is less
than
are accurate
"exact" circulation
with Prandtl's
functions
~eq.0) approxi-
calculated
distribution
(o)
The quantity
axial velocity
in the developed
slipstream
as
to displacement
velocity v'.
4. DETERMINATION
OF THE DISPLACEMENT
coefficient
placement
ratio,
velocity
c
~ 5 v'/V, and
integrals
which
T
c
in terms
correspond
to
ot
dis-
minlmum
T c = Ii~ - 12~2
(7)
Pc = Jl ~ + J2~2
(8)
~ = r/R
(9)
<~o~
(i1)
321
J2 :
Thus,
if disc loading
(12)
(B,I+G), and radial variation of blade
= (jz/2j2)[z
+ (kPcJ2/Jz 2) - 1 ] *
1.0
G
or
0.8
BOI"
2nVv"
0,6
or
0.4
~"
V'
o,2
0
0
0.2
0,4 r / t 9
Fig. 3.
Prandtl (dashed lines) and Goldstein
butions for minimma induced loss compared.
0,6
solid lines)
0.6'
1.0
circulation distri-
@ = arctan
(14)
w/v = j2 + i - @
eos]2
The blade angle of the corresponding I~nimum induced loss rotor is given by
6 = @ + ~D
(16)
where a D is the blade elelaent design angle of attack in planar flow corresponding to D/L.
2C L
*Compare ~induced (radians) = ~
322
~Ir)
It will be appreciated
that T , P
D/L, C, and c are all positive for propellers and ne~_ative for
C
C'
windmills.
In HELICE the integrals are numericaly evaluated by Simpson's rule
.
off
its
design
point,
displacement
at the blade
velocity
elements
is no longer
radially
ainduced(radians)
= (oX ~ F +
l.j c
(i~)
consistent with the minimum induced loss rotor geometry determination procedure
just given, this should be written
{~
? ~i : ~)-~}
incorrectly
graded momentum
in
}1
(l~a)
by a radially
down
131, which
theory
as suggested by Glauert,
but
with
i a(ccos - cdsin @)
~
F sinZ~ . . . .
[19)
a'
1 o(czsin@ + CdCOS )
1 - a' = ~
F sin~cos~
(20)
here aV and a'~r are the axial and swirl components of the induced velocity.
have recommended the procedure
tionally,
and less consistent with the minimum induced loss rotor geometry de-
termination subroutine in the previous section, than a procedure based on equation 18.
properties
functions of the hlade element angle of attack in planar flow for ('900<a<+900):
323
cZ
ci
cos~/cosa I
c d = Isin~l
(21)
a<~l
(22)
c2 - e1
e = ci
cd : C
+ {
} (a - a l }
~2 - ~i
(23)
(24)
e = c2 cos~/cos~ 2
(25)
Cd = Isinel
e>a2
Default
(~ - ~3 )2
range
d3
+ ~
unstalled
values
of
blade
section
par~lleters
at moderate Reynolds
(21) repeated
in HELICE
n~ber
corresponding
to
NACA
are in Table i.
TABLE i
HELICE blade section default values
parameter
c
i
~i
c 2
~2
propeller
windmill
-0.8
-1.2
-12"0
-6"0
+1.2
+0.8
+8"0
+12"0
0.008
Cd3
~3
d
0.008
-2"0
/d(~ 2)
+2"0
0.00025/(deg 2)
0.00025/(deg 2)
cd
8o wind~ill values are propeller values "turned over"; i.e., the blade cmabered faces are downstream.
choosing,
For
HELICE
these values,
or any of their
VALIDATION OF HELICE
propellers,
routines
introduce
7. EXPERIMENTAL
Albatross
HELICE users
HELICE
human powered
has
predictions
obtained
by
analysis
methods,
"reasonable"
and
HELICE
answers.
validated
by
for windmills,
the
performance
coworkers
can
be
at the
adjusted
cited.
with high
NLR
Chrysalis
and
Gossmaer
of windmill
de Vries
been
airplanes,
quality
[7].
readily
Figure 4 c o ~ a r e s
Like
to
give
wind tunnel
other
a
lifting
wide
range
data
line
of
324
-I.0
._-0
or
"0.5
-%
=0.5
~P
-0
5.0t
/v
/o
1.5
Fig 4.
Validation of HELICE with de Vries'
for HELICE parameters.
experimental
data
,7J.
See Table 2
TABLE 2
HELICE parameters
parameters
c 1
~0
1
c 2
~0
2
c
2 hlades-NACA
0.i*
0.2
0.3
0.4
0.5
0.6
).7
0.5
0.9
-1.26
-1.24
-1.22
-1.20
-1.15
-l.lb
-1.14
-1.12
-i.I0
1.24
1.22
1.20
1.15
1.16
1.14
1.12
i.i0
11.48
11.42
11.36
11.30
11.24
ii.i~
11.12
11.06
ii.00
0.010
0.014
0.015
0.022
C.026
0.030
0.034
0.038
0.042
a3~
dc d
d--~z~ x 10 -3
0.24
0.25
0.26
0.27
0.2~
0.29
0.30
~.31
0.32
0.21
0.192
0.174
0.156
0.138
0.120
O.102
0.084
0.066
7.664
4.006
3.154
1.600
0.759 -0.068
c/R~
BT
*The r/R = 0.i station does no~ exist; it is znside the splnner.
The values
chosen give a benign radial loading whose radial integrals agree with the acLual
loading integrals.
Tactual geometry
325
The
elevated
experimental
blade
values.
boundary
associated
needed
values
with
layer
high
to m i n t a i n
of
Cd3
are
Presumably
momentum
wind
required
this
satisfactory
(V =
blade
reduce
models
thickness
speeds
to
the
caused
35
predicted
excessive
by
ms -1 ) and
chord Reynolds
heavy
rotor
radial
power
to
growth
of
centrifugal
shaft
speeds
numbers
with
stresses
(-5000
rpm)
a 75 cm dia-
meter rotor.
and performance
of a typical
smnmarized
minimum
induced
loss
in Table 3:
TABLE 3
Design Point Input for HELICE windmill
dynamics (NACA 4415 airfoils)
design subroutine
2 blades,
default
aero-
~O
-I,0
r~
Tc
or
2 ~'
-0,5
5 n/?/v
/o
Fig. 5.
HELICE windmill design and performance.
for design parameters see Table 3.
15
Circles
20
indicate
design point;
326
The
design
point
performance
=
c
-0.5757(-T c = rotor drag coefficient) and Pc = -0.4028, or 40.28% of the kinetic
energy of undisturbed
the
ratio to
expense
ii,
of
Fig.
5)
is
calculated
to
be
(circles,
By
Pc becomes
70~
decreasing
-0.5219
increase
in
blade
angles
(the actuator
rotor
drag
2 and
disc limit
(T c =
increasing
is -0.5926)
-0.9816).
The
tip
at
designer
6 shows
an asynchronous
angle governing
of this windmill
driving
~le cut-
in speed of 4.2 ms -I corresponds to the mechanical power loss for 1800 generator
rpm.
wind
output
of 24 ~ - i ,
of the generator
critical.
when the
output
to 150% rating,
At higher speeds it ~ s t
angle
governing
to
electrical
be shut down.
may be
reduced,
down speed will not exist if enough governing blade angle range has been pr<~vided.
HELICE also will predict torque of an almost stopped rotor (tip speed ~otie
= 0.05),
showing that about 85 blade angle increase is needed to stop the ~'~cof'
without a brake.
/502
electric
lop
power
kW
0
20000
~1900
|rp
fronsienf sfoll
region
~
~"
/I-
rQfing'~
- I0 o
I~l,t/h~l
[/850
1/800
~2
droq
design point
/bsO50
'"~
. .pilch~
........
000 d rrc
_n
L _ . _ ~ - ' ~~- .' .k.z. .. ~ ' , / / / " ~vorioble
I0000
,,
N
0
0
wind
5 speed
I0
Fig. 6.
Fixed pitch (showing stall governing)
the windmill of Fig. 5 with generator load.
m/s
/5
20
of
327
REFERENCES
i R.T. Jones (compiled by), Classical aerodynamic theory.
NASA Reference Publication 1050 (1979); includes NACA Technical Report No. 116 "Applications of
modern hydrodynamics to aeronautics" by L. Prandtl (pps. 1-55 of the Compilation).
This document, written by Prandtl in German about 1921 and published
in 1923 is one of the few good English translations produced by the NACA.
2 S. Goldstein, On the vortex theory of screw propellers, Proceedings of the
Royal Society, A, Vol. 123 (1929).
3 H. Glauert, Airplane propellers, Div. L. Vol. IV of "Aerodynamic Theory" edited by Durand; Springer-Verlag 1935; also Dover photo offset reprint.
4 E.E. Larrabee, Design of propellers for motorsoarers, "Science and T e c h n o l o ~
of Low Speed and Motorless Flight", NASA Conference Publication 2085, Part I,
(1979) 285-303.
5 M. Grosser, Goss~aer Odyssey - the triumph of hm~an-powered flight, Houghton
Mifflin Company, Boston, 1981.
6 Janes All the World's Aircraft, (19~I-$2) 413-414.
Also "Soaring" magazine,
Vol. 43, No. i0, (1979) 36-41.
7 0. de Vries, Wind tunnel tests on a model of a two-bladed horizontal axis wind
turbine and evaluation of an aerodynamic performance calculation method, NLH
TR 79071 L National-Lucht-en Ruimtevaartlaboratori~,
~terdam
(1979).